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<div class="header">
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="classpcl_1_1registration_1_1_transformation_estimation-members.html">所有成员列表</a>  </div>
  <div class="headertitle">
<div class="title">pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, Scalar &gt; 模板类 参考<span class="mlabels"><span class="mlabel">abstract</span></span></div>  </div>
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<p><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html" title="TransformationEstimation represents the base class for methods for transformation estimation based on...">TransformationEstimation</a> represents the base class for methods for transformation estimation based on:  
 <a href="classpcl_1_1registration_1_1_transformation_estimation.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="transformation__estimation_8h_source.html">transformation_estimation.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, Scalar &gt; 继承关系图:</div>
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 <div class="center">
  <img src="classpcl_1_1registration_1_1_transformation_estimation.png" usemap="#pcl::registration::TransformationEstimation_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map" alt=""/>
  <map id="pcl::registration::TransformationEstimation_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map" name="pcl::registration::TransformationEstimation_3C_20PointSource_2C_20PointTarget_2C_20Scalar_20_3E_map">
<area href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html" alt="pcl::registration::TransformationEstimationSVD&lt; PointT, PointT, Scalar &gt;" shape="rect" coords="0,56,456,80"/>
<area href="classpcl_1_1recognition_1_1_trimmed_i_c_p.html" alt="pcl::recognition::TrimmedICP&lt; PointT, Scalar &gt;" shape="rect" coords="0,112,456,136"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a07897a083da1df8960c5888a5374fc02"><td class="memItemLeft" align="right" valign="top"><a id="a07897a083da1df8960c5888a5374fc02"></a>
typedef Eigen::Matrix&lt; Scalar, 4, 4 &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Matrix4</b></td></tr>
<tr class="separator:a07897a083da1df8960c5888a5374fc02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0b20a4f0bf5ab8ba875e98a97d33aff9"><td class="memItemLeft" align="right" valign="top"><a id="a0b20a4f0bf5ab8ba875e98a97d33aff9"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a0b20a4f0bf5ab8ba875e98a97d33aff9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e5af204000fd2ca1490b6cae58d1695"><td class="memItemLeft" align="right" valign="top"><a id="a5e5af204000fd2ca1490b6cae58d1695"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>&lt; PointSource, PointTarget, Scalar &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a5e5af204000fd2ca1490b6cae58d1695"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:ae6cce6a02e4cb990b1183fd1f8c1cb59"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const =0</td></tr>
<tr class="memdesc:ae6cce6a02e4cb990b1183fd1f8c1cb59"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ae6cce6a02e4cb990b1183fd1f8c1cb59">更多...</a><br /></td></tr>
<tr class="separator:ae6cce6a02e4cb990b1183fd1f8c1cb59"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab7e2b0354d603958e13ee879921bdc37"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, Matrix4 &amp;transformation_matrix) const =0</td></tr>
<tr class="memdesc:ab7e2b0354d603958e13ee879921bdc37"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#ab7e2b0354d603958e13ee879921bdc37">更多...</a><br /></td></tr>
<tr class="separator:ab7e2b0354d603958e13ee879921bdc37"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a442a4c07807f51522252122393de6faf"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt, Matrix4 &amp;transformation_matrix) const =0</td></tr>
<tr class="memdesc:a442a4c07807f51522252122393de6faf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a442a4c07807f51522252122393de6faf">更多...</a><br /></td></tr>
<tr class="separator:a442a4c07807f51522252122393de6faf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29eac92312d3f445ba840a02e92fa5db"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">estimateRigidTransformation</a> (const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;cloud_src, const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;cloud_tgt, const pcl::Correspondences &amp;correspondences, Matrix4 &amp;transformation_matrix) const =0</td></tr>
<tr class="memdesc:a29eac92312d3f445ba840a02e92fa5db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimate a rigid rotation transformation between a source and a target point cloud.  <a href="classpcl_1_1registration_1_1_transformation_estimation.html#a29eac92312d3f445ba840a02e92fa5db">更多...</a><br /></td></tr>
<tr class="separator:a29eac92312d3f445ba840a02e92fa5db"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointSource, typename PointTarget, typename Scalar = float&gt;<br />
class pcl::registration::TransformationEstimation&lt; PointSource, PointTarget, Scalar &gt;</h3>

<p><a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html" title="TransformationEstimation represents the base class for methods for transformation estimation based on...">TransformationEstimation</a> represents the base class for methods for transformation estimation based on: </p>
<ul>
<li>correspondence vectors</li>
<li>two point clouds (source and target) of the same size</li>
<li>a point cloud with a set of indices (source), and another point cloud (target)</li>
<li>two point clouds with two sets of indices (source and target) of the same size</li>
</ul>
<dl class="section note"><dt>注解</dt><dd>The class is templated on the source and target point types as well as on the output scalar of the transformation matrix (i.e., float or double). Default: float. </dd></dl>
<dl class="section author"><dt>作者</dt><dd>Dirk Holz, Radu B. Rusu </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a29eac92312d3f445ba840a02e92fa5db"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a29eac92312d3f445ba840a02e92fa5db">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[1/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">correspondences</td><td>the vector of correspondences between source and target point cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>

<p>在 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a2c3276b3f506d08339686a6d0feaf990">pcl::registration::TransformationEstimationSVD&lt; PointT, PointT, Scalar &gt;</a> 内被实现.</p>

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<a id="ae6cce6a02e4cb990b1183fd1f8c1cb59"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae6cce6a02e4cb990b1183fd1f8c1cb59">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[2/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>

<p>在 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#ab8e5a51823fded01fb75c2d082c5e49c">pcl::registration::TransformationEstimationSVD&lt; PointT, PointT, Scalar &gt;</a> 内被实现.</p>

</div>
</div>
<a id="a442a4c07807f51522252122393de6faf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a442a4c07807f51522252122393de6faf">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[3/4]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">virtual void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_tgt</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Estimate a rigid rotation transformation between a source and a target point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_tgt</td><td>the vector of indices describing the correspondences of the interst points from <em>indices_src</em> </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
  </table>
  </dd>
</dl>

<p>在 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a1d4911a7ea2ee1bc54635f2059b31c8b">pcl::registration::TransformationEstimationSVD&lt; PointT, PointT, Scalar &gt;</a> 内被实现.</p>

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<a id="ab7e2b0354d603958e13ee879921bdc37"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab7e2b0354d603958e13ee879921bdc37">&#9670;&nbsp;</a></span>estimateRigidTransformation() <span class="overload">[4/4]</span></h2>

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template&lt;typename PointSource , typename PointTarget , typename Scalar  = float&gt; </div>
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          <td class="memname">virtual void <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation</a>&lt; PointSource, PointTarget, Scalar &gt;::estimateRigidTransformation </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointSource &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_src</em>, </td>
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          <td></td>
          <td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
          <td class="paramname"><em>indices_src</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointTarget &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud_tgt</em>, </td>
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          <td class="paramtype">Matrix4 &amp;&#160;</td>
          <td class="paramname"><em>transformation_matrix</em>&#160;</td>
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          <td>)</td>
          <td></td><td> const</td>
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<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
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<p>Estimate a rigid rotation transformation between a source and a target point cloud. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_src</td><td>the source point cloud dataset </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">indices_src</td><td>the vector of indices describing the points of interest in <em>cloud_src</em> </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud_tgt</td><td>the target point cloud dataset </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">transformation_matrix</td><td>the resultant transformation matrix </td></tr>
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<p>在 <a class="el" href="classpcl_1_1registration_1_1_transformation_estimation_s_v_d.html#a4fe2656eeacf42f2a49db0851651c5ac">pcl::registration::TransformationEstimationSVD&lt; PointT, PointT, Scalar &gt;</a> 内被实现.</p>

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<hr/>该类的文档由以下文件生成:<ul>
<li>registration/include/pcl/registration/<a class="el" href="transformation__estimation_8h_source.html">transformation_estimation.h</a></li>
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